Threat model. We assume an adversary \(\mathcal {A}\) , that has the ability to perform any of the state-of-the-art object hiding attacks. For Class 1 Object Hiding Attacks, there are no perturbations to the 3D LiDAR point cloud, and thus, the observation that object shadows exist holds. For Class 2, Object Removal Attack (ORA-Random) [1]} generate adversarial objects by perturbing the point cloud. However, the point perturbations are limited to a short distance of point shifting along the ray direction and do not affect the object's shadow.
